/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stepper_motor.h"
#include "state_machine.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
StateMachine_t sm;

// 串口接收相关变量

static uint8_t uart3_rx_byte;              // 单字节接收缓冲区
static uint8_t uart3_frame_buffer[64];     // 帧数据缓冲区
static uint8_t uart3_frame_index = 0;      // 帧数据索引
static uint8_t uart6_rx_byte;              // 单字节接收缓冲区
static uint8_t uart6_frame_buffer[64];     // 帧数据缓冲区
static uint8_t uart6_frame_index = 0;      // 帧数据索引
static bool uart_frame_receiving = false; // 帧接收状态标志
bool 	 cam_status = false;
uint8_t rx2_complete = 0;
uint8_t rx3_complete = 0;
int16_t x = 160;
int16_t y = 120;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/**
* @brief  解析浮点数，以","为分界
  */
//void parse_float_data(char *data) {
//    char *token;
//    j = 0;

//    token = strtok(data, ",");
//    while (token != NULL && j < 2) {
//        pwm_duty[j++] = strtof(token, NULL); // ???????
//        token = strtok(NULL, ","); // ????
//    }

//}

void UART_ParseFrame(StateMachine_t *sm, uint8_t *frame_data, uint8_t frame_length)
{
    if (frame_length == 1) {
        uint8_t cmd = frame_data[0];
        if (cmd >= '1' && cmd <= '3') {
            TaskType_t task = (TaskType_t)(cmd - '0');
            StateMachine_SetTaskSelection(sm, task);
        }
        else if (cmd == 'R' || cmd == 'r') {
            StateMachine_Reset(sm);
        }
    }
}

// 串口接收完成回调
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    if(huart->Instance == USART2)
    {
        rx2_complete = 1;  // 接收完成标志
    }
		if(huart->Instance == USART3)
    {
				uint8_t cam_received_byte = uart3_rx_byte;
				if (cam_received_byte == 0x7B) 
				{
            // 检测到帧头，开始接收
            uart_frame_receiving = true;
            uart3_frame_index = 0;
        }
        else if (cam_received_byte == 0x7D && uart_frame_receiving)
				{
					// 检测到帧尾，解析完整帧
					if (uart3_frame_index == 4)         
					{
						x = (int16_t)(uart3_frame_buffer[0] | (uart3_frame_buffer[1] << 8));
						y = (int16_t)(uart3_frame_buffer[2] | (uart3_frame_buffer[3] << 8));
						
						printf("%d,%d\r\n",x,y);
					}
					uart_frame_receiving = false;       // 准备下一帧
        }
        else if (uart_frame_receiving) 
				{
            // 接收帧数据
					if(cam_received_byte == 0x24){
							cam_status = true;
						StateMachine_SetCameraStopSignal(&sm,cam_status);
					}
            uart3_frame_buffer[uart3_frame_index++] = cam_received_byte;
        }
        
        // 重新启动下一字节接收
        HAL_UART_Receive_IT(huart, &uart3_rx_byte, 1);
    }
		if (huart->Instance == USART6) {
        uint8_t received_byte = uart6_rx_byte;
        if (received_byte == '[') {
            // 检测到帧头，开始接收
            uart_frame_receiving = true;
            uart6_frame_index = 0;
        }
        else if (received_byte == ']' && uart_frame_receiving) {
            // 检测到帧尾，解析完整帧
            UART_ParseFrame(&sm, uart6_frame_buffer, uart6_frame_index);
            uart_frame_receiving = false;
        }
        else if (uart_frame_receiving) {
            // 接收帧数据
            uart6_frame_buffer[uart6_frame_index++] = received_byte;
        }
        
        // 重新启动下一字节接收
        HAL_UART_Receive_IT(huart, &uart6_rx_byte, 1);
    }
}


///**
//	* @brief  电机pid初始化   
//  */
//void Motor_Control_Init(void)
//{
//		Encoder_Create(&htim2);
//		Encoder_QuickInit(&htim2, &encoder1);
//		Encoder_Create(&htim5);
//		Encoder_QuickInit(&htim5, &encoder2);
//		motor12_init();
// 
//    /* 初始化双电机控制器 */
//    DualMotor_Init(&g_dual_motor, encoder1, encoder2);
//    
//    /* 设置速度PID参数（根据实际电机调整） */
//    DualMotor_SetSpeedPID(&g_dual_motor, 1, 2.8f, 0.4, 0);  /* 电机1 */
//    DualMotor_SetSpeedPID(&g_dual_motor, 2, 15.0f, 2.0f, 0.2f);  /* 电机2 */
//    
//    /* 设置位置PID参数 */
//    DualMotor_SetPositionPID(&g_dual_motor, 1, 8.0f, 0.5f, 1.0f);  /* 电机1 */
//    DualMotor_SetPositionPID(&g_dual_motor, 2, 8.0f, 0.5f, 1.0f);  /* 电机2 */
//    
//    /* 设置控制模式为速度控制 */
//    DualMotor_SetMode(&g_dual_motor, MOTOR_MODE_SPEED);
//    
//    /* 启动电机控制 */
//    DualMotor_Enable(&g_dual_motor, 1);
//}


/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
	
	
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_I2C3_Init();
  MX_USART2_UART_Init();
  MX_USART6_UART_Init();
  MX_TIM8_Init();
  MX_TIM13_Init();
  MX_TIM2_Init();
  MX_TIM5_Init();
  MX_ADC1_Init();
  MX_USART1_UART_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */
	StateMachine_Init(&sm);
  printf("start!\r\n");
	HAL_UART_Receive_IT(&huart3, &uart3_rx_byte,1);
	HAL_UART_Receive_IT(&huart6, &uart6_rx_byte,1);
	Gimbal_Reset();
	
	//Gimbal_task1();
//	Gimbal_SetPosition(320, 10);
//	Gimbal_IsAtPosition();


	//STEP_MotorCtrl(0x02, STEP_MODE_POSITION, 0x20, 450, 100); //电机ID，电机模式，电机方向，电机细分，绝对角度*10，速度*10
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
			Gimbal_SetPosition(x, y);
			
//			HAL_Delay(1000);
//			Gimbal_IsAtPosition();
		
		//StateMachine_Run(&sm);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
